Fluid-powered linear motor with rotary pistons and motion rectifier and synthetic diamond bearing assemblies

ABSTRACT

A fluid-powered linear motor with rotary pistons is disclosed. An application is for a downhole motor but it could be used in other applications. Rotational pistons provide increased torque generation as the torque generated is proportional to motor length. Since downhole drills are long (generally up to a maximum length of 30 ft.), a high-torque motor can be produced using this method. A pressurized fluid is used to drive the piston assemblies to produce bit shaft power. This concept employs rotary pistons and a mechanical rectifier to convert the rotational reciprocation produced by a reciprocating rotational piston into continuous rotary motion. Integration of synthetic diamond bearing assemblies into the motor allows for reduced friction and abrasive drilling fluid compatibility.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation-in-part to U.S. patent applicationSer. No. 16/153,265, entitled “FLUID-POWERED LINEAR MOTOR WITH ROTARYPISTONS AND MOTION RECTIFIER,” by David W. Raymond, filed Oct. 5, 2018,which claims priority to provisional patent application U.S. Ser. No.62/569,074, entitled “FLUID-POWERED LINEAR MOTOR WITH ROTARY PISTONS ANDMOTION RECTIFIER,” by David W. Raymond, filed Oct. 6, 2017, thedisclosures of which are incorporated herein by reference in theirentireties.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

This invention was developed under Contract No. DE-NA0003525 between theUnited State Department of Energy and National Technology & EngineeringSolutions of Sandia, LLC, for the operation of the Sandia NationalLaboratories.

BACKGROUND OF THE INVENTION

The present invention relates to the field of motors, and specificallyto fluid-powered linear motors with rotary pistons for drilling.

Downhole drills are used for oil drilling, geothermal drilling, andother deep earth penetration applications. Downhole drills includerotary and percussive drills. For nearly any drilling method, rotationalenergy must be transferred downhole in order to promote rock reduction.The drill bit may be rotated by an electric motor or fluid/hydraulicsystem. The rotating action can be produced either at the surface ornear the drill bit. In addition to rotational cutting, drills may alsobe pressurized or mechanically actuated to force the drill bit to hammeragainst the rock/earth. Prior art rotation systems and methods arecomplex, require large form factors to create sufficient torque, andrequire a high degree of maintenance.

The most common method of downhole energy transfer is rigid drill pipe.The drill pipe is rotated from the surface, with drilling joints addedfor tripping (moving in and out of the hole). For this type of system,the entire drill string rotates. Typically, a rotary table system or atop drive is used to drive the drill string. Although it is well suitedfor vertical drilling, it has limited applications in directionaldrilling because the drill string curvature and thrust loads generateadditional torque that the surface based motor must overcome and drillpipe survive.

Downhole techniques used to generate rotation such as positivedisplacement motors (PDMs) are limited in their temperature range due tothe use of elastomers. Energy resources like geothermal and deep oil andgas wells lie in hot (160° C.-300° C.), and often hard rock. Thehigh-temperatures limit the use of PDMs in those environments.Additionally, while PDM motors are used for the vast majority ofdirectional drilling operations, they introduce significant lateralvibration to the drilling assembly as the multi-lobed helical rotorcomprising the power section undergoes nutation within the motor housingto generate rotor rotation. This lateral vibration is detrimental toboth hardware life and directional drilling operations.

U.S. Pat. No. 9,447,798 discloses a motor that includes a moduleassembly incorporating an axially-cycled piston. The piston axial motionis torque coupled to convert the axial motion into rotary motion. Themethod does not require elastomers for operation and the rotor operatesconcentrically thereby not inducing lateral vibration. A modular fluidpowered linear piston motor with harmonic coupling is described in U.S.patent application Ser. No. 15/090,282 filed Apr. 4, 2016, entitled“Modular Fluid Powered Linear Piston Motors with Harmonic Coupling”, andincludes a drive train to convert reciprocating motion from a pistoninto rotary motion in an output shaft. Rotation is accomplished withroller balls captured between an inner race and a drive liner tofacilitate rotation between a rotor and a stator. These roller ballsmust operate with low friction to enable smooth operation of the motor.Additionally, they must operate under a high contact load as they are inthe preloaded and active load path to transmit torque to the outputrotor. Finally, they must potentially operate with an abrasive drillingfluid under the rigors of high ambient temperatures and high frictionconditions.

The limitations of these configurations are: 1) many pistons arerequired to generate the requisite torque to drive a drill bit downhole,and 2) any particulates in the drilling fluid would potentially settleout on the upper surfaces of the piston and eventually restrictoperation.

What is needed are systems and/or methods that overcome one or more ofthese limitations or provides other advantageous features.

Other features and advantages will be made apparent from the presentspecification. The teachings disclosed extend to those embodiments thatfall within the scope of the claims, regardless of whether theyaccomplish one or more of the aforementioned needs.

SUMMARY OF THE INVENTION

According to an embodiment of the disclosure, a motor module isdisclosed that includes a primary rotor assembly comprising a harmonicdrive rotor;

-   -   a secondary reciprocating rotor assembly coupled to the primary        rotor assembly, the    -   secondary reciprocating rotor assembly comprising a        reciprocating rotary piston assembly and a helical drive screw;    -   a helical drive reciprocating ring coupled to the helical drive        screw; and    -   a harmonic drive reciprocating ring coupled to the helical drive        reciprocating ring and the harmonic drive rotor so that        reciprocating motion of the secondary reciprocating rotor        assembly imparts linear motion to the helical and harmonic        reciprocating rings so that the harmonic reciprocating ring        rotates the harmonic drive rotor to impart continuous rotary        motion to the primary motor assembly; and    -   one or more synthetic diamond bearings to support radial and        thrust loads and combinations thereof within the assembly.

According to another embodiment of the disclosure, a motor is disclosedthat includes two or more motor modules, wherein each of the two or moremotor modules includes a primary rotor assembly comprising a harmonicdrive rotor, a secondary reciprocating rotor assembly coupled to theprimary rotor assembly, the secondary reciprocating rotor assemblycomprising a reciprocating rotary piston assembly and a helical drivescrew, a helical drive reciprocating ring coupled to the helical drivescrew, and a harmonic drive reciprocating ring coupled to the helicaldrive reciprocating ring and the harmonic drive rotor so thatreciprocating motion of the secondary reciprocating rotor assemblyimparts linear motion to the helical and harmonic reciprocating rings sothat the harmonic reciprocating ring rotates the harmonic drive rotor toimpart continuous rotary motion to the primary motor assembly, and oneor more synthetic diamond bearing assemblies to support radial andthrust loads and combinations thereof within the motor.

According to another embodiment of the disclosure, a method forconverting fluid energy to rotational energy is disclosed that includesproviding fluid to a motor module comprising a primary rotor assemblycomprising a harmonic drive rotor, diverting a portion of the fluid to asecondary reciprocating rotor assembly coupled to the primary rotorassembly, the secondary reciprocating rotor assembly comprising areciprocating rotary piston assembly, energizing the reciprocatingrotary piston assembly with the portion of the fluid to reciprocatedlyrotate the secondary reciprocating rotor assembly, and transferringenergy from the secondary reciprocating rotor assembly to the primaryrotor assembly via a mechanical rectifier to continuously rotate theprimary rotor assembly, and using one or more synthetic diamond bearingsto reduce friction between the reciprocation of the secondaryreciprocating rotor assembly with respect to the continuous rotation ofthe primary rotor assembly.

One advantage of the present disclosure are motors having improvedtorque characteristics.

Another advantage of the present disclosure are motors that do notintroduce lateral vibration to a drilling assembly.

Another advantage of rotary pistons is the drilling fluid is allowed toflow through the power section and is thereby immune to particulatessettling on the piston lands.

Another advantage is that preferential torque and speed characteristicsmay be prescribed by specification of design parameters governing theoperation of the rotary piston/helical drive screw/harmonic drivecombination comprising the assembly.

Another advantage is use of synthetic diamond bearing assemblies thatallows motor operation with abrasive drilling fluids to power the motor.Synthetic diamond bearing assemblies are heralded for their low frictionoperation under high loads.

Alternative exemplary embodiments relate to other features andcombinations of features as may be generally recited in the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates an internal power section portion of a fluid-poweredlinear motor module incorporating synthetic diamond bearing assembliesaccording to an embodiment of the disclosure.

FIG. 2 illustrates a primary rotor assembly and harmonic drive rotordisposed thereupon incorporating synthetic diamond bearing assembliesaccording to an embodiment of the disclosure.

FIG. 3 illustrates a secondary rotor assembly incorporating syntheticdiamond bearing assemblies according to an embodiment of the disclosure.

FIG. 4 illustrates a composite rotary assembly incorporating syntheticdiamond bearing assemblies according to an embodiment of the disclosure.

FIG. 5 illustrates a helical drive reciprocating ring and connectingflange according to an embodiment of the disclosure.

FIG. 5A is a cross section view of the helical drive reciprocating ringand connecting flange of FIG. 5.

FIG. 6 illustrates a harmonic drive reciprocating ring according to anembodiment of the disclosure.

FIG. 6A is a cross section view of the harmonic drive reciprocating ringof FIG. 6.

FIG. 7 illustrates a liner assembly according to an embodiment of thedisclosure.

FIG. 7A is a cross section view of the liner assembly of FIG. 7incorporating synthetic diamond bearing assemblies.

FIG. 8 is a partial cross section view of a motor module incorporatingsynthetic diamond bearing assemblies according to an embodiment of thedisclosure with liner assembly cutaway.

FIG. 9 is the motor module of FIG. 8 indicating cut aways for FIGS.9A-9H.

FIG. 9A is an illustration of cut away 1-1 of the motor module of FIG.9.

FIG. 9B is an illustration of cut away 2-2 of the motor module of FIG.9.

FIG. 9C is an illustration of cut away 3-3 of the motor module of FIG.9.

FIG. 9D is an illustration of cut away 4-4 of the motor module of FIG.9.

FIG. 9E is an illustration of cut away 5-5 of the motor module of FIG.9.

FIG. 9F is an illustration of cut away 6-6 of the motor module of FIG.9.

FIG. 9G is an illustration of cut away 7-7 of the motor module of FIG.9.

FIG. 9H is an illustration of cut away 8-8 of the motor module of FIG.9.

FIG. 10 illustrates a fluid-powered linear motor according to anembodiment of the disclosure.

FIG. 11 illustrates working and power fluid flows through a motor moduleaccording to an embodiment of the disclosure.

FIG. 12 is a partial cross section view of a motor module atcommencement of a stroke incorporating synthetic diamond bearingassemblies according to an embodiment of the disclosure with linerassembly cutaway illustrating clockwise reciprocating rotor assemblyrotation.

FIG. 13 is a partial cross section view of a motor module at completionof a stroke incorporating synthetic diamond bearing assemblies accordingto an embodiment of the disclosure with liner assembly cutawayillustrating counter-clockwise reciprocating rotor assembly rotation.

FIG. 14 is an illustration of a harmonic drive rotor according to anembodiment of the disclosure described herein using two cycles perrevolution.

FIG. 15 is an illustration of a harmonic drive rotor according toanother embodiment of the disclosure using three cycles per revolution.

FIG. 16 is an illustration of a harmonic drive rotor according toanother embodiment of the disclosure using four cycles per revolution.

FIG. 17 is an illustration of a reciprocating rotary piston assembly andcompatible stator with three rotary piston blades according to anembodiment of the disclosure.

FIG. 18 is an illustration of a reciprocating rotary piston assembly andcompatible stator with four rotary piston blades according to anembodiment of the disclosure.

FIG. 19 is an illustration of a reciprocating rotary piston assembly andcompatible stator with five rotary piston blades according to anembodiment of the disclosure.

FIG. 20 is an illustration of a radial bearing assembly according to anembodiment of the disclosure.

FIG. 21 is an illustration of a thrust bearing assembly according to anembodiment of the disclosure.

FIG. 22 is an illustration of a tapered bearing assembly according to anembodiment of the disclosure.

The application will become more fully understood from the followingdetailed description, taken in conjunction with the accompanyingfigures.

DETAILED DESCRIPTION OF THE INVENTION

Before turning to the figures which illustrate the exemplary embodimentsin detail, it should be understood that the application is not limitedto the details or methodology set forth in the following description orillustrated in the figures. It should also be understood that thephraseology and terminology employed herein is for the purpose ofdescription only and should not be regarded as limiting.

The present disclosure is directed to systems and methods that usemotors with rotary pistons and reciprocating linear rings to rectifyreciprocative rotary motion to continual rotary motion to improve torqueover axial piston configurations. The torque generated by the rotationalpistons is proportional to the length of the rotary pistons; hence thepistons can be prescribed of the length necessary to generate a desiredtorque. Furthermore, an increased number of pistons may be used forgreater torque. The form factor presented by rotational pistons allowsflow through the piston section so fluid particulates will not settleout within the piston assembly. The disclosed motors have improvedtorque and particle settling characteristics and do not introducelateral vibration and can operate at high temperatures. Further, thedisclosed motors allow operation with abrasive drilling fluids pumpeddownhole to power the motor by virtue of integration of syntheticdiamond bearing assembles between motor components subject to relativemotion.

FIG. 1 illustrates an internal power section 10 of a fluid-poweredlinear motor module (internal power section) 10 according to anembodiment of the disclosure. As can be seen in FIG. 1, the internalpower section 10 includes a primary rotor assembly 20, a secondaryreciprocating rotor assembly 30, a helical drive reciprocating ring(helical drive ring) 40 and a harmonic drive reciprocating ring(harmonic drive ring) 50. Additional components not seen are discussedin further detail below. The internal power section 10 has aft end orfluid inlet 11 and a fore end or fluid outlet 12. The internal powersection 10 receives fluid at the aft end that drives the secondaryreciprocating rotor assembly that drives the helical and harmonicreciprocating rings to drive a harmonic drive rotor (described below)attached to the primary rotor assembly to impart a continual rotationthereto, the fluid discharged thereafter from the fluid outlet.

As can further be seen in FIG. 1, the internal power section 10 furtherincludes radial bearing inner races 201 a disposed at opposite ends ofthe internal power section 10. Corresponding radial bearing outer races201 b can be seen in FIG. 7A. The combination of radial bearing innerand outer races 201 a, 201 b is referred to a radial bearing assembly orradial bearing. Radial bearings 201 formed by inner and outer races 201a and 201 b are shown FIG. 8. An embodiment of a radial bearing 250including a radial bearing inner race 250 a and outer race 250 b isshown in FIG. 20 and is described in the accompanying text to FIG. 20.

As can also be further seen in FIG. 1, the internal power section 10further includes tapered bearing races 221 a, 222 b and 223 b.Corresponding tapered bearing races 221 b, 222 a and 223 a can be seenin FIG. 7A. In this disclosure with respect to radial and taperedbearings, “a” refers to an inner race configuration and “b” refers to anouter race configuration. The combination of tapered bearing inner andouter races 221 a and 221 b, 222 a and 222 b, and 223 a and 223 b,respectively, is referred to as a tapered bearing assembly or taperedbearing. Tapered bearings 221, 222, and 223 formed by inner and outerraces are shown in FIG. 8. An embodiment of tapered bearing 270including a tapered bearing inner race 270 a and a tapered bearing outerrace 270 b is shown in FIG. 22.

As can also be seen in FIG. 1, flanges 226 are positioned adjacenttapered bearing inner and outer races 221 a and 223 b. A flange is alsoadjacent to the fore side of tapered bearing outer race 222 b but cannotbe seen in FIG. 1. The flanges 226 provide an interface from the primaryrotor 20 to the tapered bearing race for reacting thrust loads withinthe rotor to the liner 72 shown in FIG. 8. In addition, one or more ofthe flanges 226, as well as other flanges disposed adjacent inner andouter tapered bearings, radial bearings, and thrust bearings may beincluded. In this embodiment, flanges 226 have fluid ports 226 a thatenable the working fluid to flow across the bearing assembly to providecooling. In other embodiments, one or more flanges may have fluid ports226 a.

FIG. 2 illustrates a primary rotor assembly 20 and harmonic drive rotor60 according to an embodiment of the disclosure. The primary rotorassembly 20 ports the fluid to the piston chambers, identified anddiscussed below, as it rotates. The primary rotor assembly 20 producestorque in response to the harmonic drive ring 50 moving across theharmonic drive rotor 60. The primary rotor assembly 20 includes aprimary rotor shaft 21, flanges 226 and end retainers 23 a, 23 b. Theend retainers 23 a, 23 b retain the various components comprising thesubassembly on the primary rotor shaft. The first end retainer orlocknut 23 a is disposed on the shaft 21 proximate the fluid inlet 21 aand a second end retainer or shaft collar 23 b is disposed proximate thefluid outlet 21 b.

The primary rotor assembly 20 also includes a primary shaft fluid outlet(pressure) valve 24 and a primary shaft fluid inlet (exhaust) valve 25.In addition, the primary rotor assembly 20 includes a thrust bearingfirst race 231 a that mates with a thrust bearing second race 231 b onthe secondary reciprocating rotor assembly 30 in FIG. 3. In contrast to“a” and “b” referring to inner and outer bearing races for radial andtapered bearings, thrust bearing races “a” and “b” refers to each raceof a race pair as the races oppose one another in contrast to overlap asin radial and tapered bearings. The combined rotor assembly 70 is shownin FIG. 4 with the first and second races 231 a, 231 b combined to formthrust bearing 231. The thrust bearing 231 allows axial loads from thereciprocation of the secondary reciprocating rotor assembly 30 to besupported by the primary rotor assembly 20. A thrust bearing 260including thrust bearing first and second races 260 a, 260 b can be seenin FIG. 21 and is described in the accompanying text to FIG. 21.

The primary shaft fluid outlet valve 24 allows a portion of the fluidentering the shaft fluid inlet 21 a and flowing through a shaft internalpressurized flow channel (not shown), which flows between the primaryshaft fluid inlet 21 a and the primary shaft fluid outlet 21 b, to exitthe shaft internal pressurized flow channel and drive the secondaryreciprocating rotor assembly 30. The primary fluid inlet valve 25 allowsthe fluid that has driven the secondary reciprocating rotor assembly 30to return to a shaft internal flow channel separate from the pressurizedfluid flowing through the shaft internal pressurized flow channel. Boththe pressurized fluid flowing through the shaft internal pressurizedflow channel and the fluid that has performed work by driving thesecondary reciprocating rotor assembly 30 are discharged as separatestreams at the shaft fluid outlet 21 b.

The harmonic drive rotor 60 is a cylindrical sleeve that has ball trackgrooves 60 a that allow seating of ball transfers in harmonic drivereciprocating ring 50. The ball track grooves 60 a form a recirculatingpath around the harmonic drive to convert harmonic, cycloidal orpolynomial motion in the harmonic drive reciprocating ring 50 to rotarymotion in the primary rotor assembly. The harmonic drive rotor 60converts reciprocating motion in the harmonic drive reciprocating ring50 to continuous rotary motion in primary rotor assembly 20. Theharmonic drive rotor 60 is joined to, affixed or otherwise attached tothe primary rotor assembly 20 so that imparting rotation to the harmonicdrive rotor 60 imparts rotation to the primary rotor assembly 20.

FIG. 3 illustrates a secondary reciprocating rotor assembly 30 accordingto an embodiment of the disclosure. The secondary reciprocating rotorassembly 30 is concentric to the primary rotor assembly 20 and canreciprocatedly rotate thereabout. The secondary reciprocating rotorassembly 30 includes a secondary reciprocating rotor (secondary rotor)31, a reciprocating rotary piston assembly 32, and a helical drive screwassembly 33. The reciprocating rotary piston assembly 32 includes ahousing 32 a, reciprocating rotary motor blades or pistons 32 b andsplines 32 c internal to the housing 32 a. The reciprocating rotarypiston assembly 32 shows an end view of the secondary rotor 32 so as toshow secondary rotor splines 31 a that engage with the splines 32 c ofthe reciprocation rotary piston assembly 32. In this exemplaryembodiment, the reciprocating rotary piston assembly 32 includes threeblades or pistons 32 b, in other embodiments, the assembly 32 may haveone or more pistons. In another embodiment, the assembly 32 may have twoor more pistons 32 b.

As can be seen in FIG. 3, the pistons 32 b include synthetic diamondinserts 32 b′ at each end of a piston for reduced friction and abrasivedrilling fluid compatibility (inserts 32 b′ on the fore end hidden fromview in this figure). The inserts are nearly surface flush with thepistons 32 b to prevent fluid leaking from the high pressure chamber tothe low pressure chamber. Inserts 32 b′ mate to races 79 d shown in FIG.7A. The synthetic diamond inserts 32 b′ contact races 79 d shown in FIG.7A and together comprise a tapered bearing assembly type of assembly.

The thrust bearing race 231 b on the secondary rotor (FIG. 3) reactsthrust load from the helical drive reciprocating ring 40 to the thrustbearing race 231 a on the primary rotor (FIG. 2); the composite assemblyis shown in FIG. 4. An embodiment of a thrust bearing 260 including athrust bearing inner race 260 a and outer race 260 b is shown in FIG. 21and is described in the accompanying text to FIG. 21. As discussedabove, thrust bearing 231 is formed by first and second races 231 a and231 b as shown on FIG. 4. Use of low friction bearings facilitates thereciprocation of secondary reciprocating rotor assembly 30 with respectto the continuous rotation of primary rotor assembly 20.

Radial bearings 201, tapered bearings 221, 222, and 223 and thrustbearing 231 (FIG. 4) include synthetic diamond inserts for reducedfriction and abrasive drilling fluid compatibility as discussed in moredetail in the general discussion of radial, thrust and tapered bearingsregarding FIGS. 20, 21 and 22.

The helical drive screw 35 is a cylindrical sleeve that has ball trackgrooves 35 a that allow seating of ball transfers 45 (see FIGS. 5 and5A) in helical drive reciprocating ring 40. The ball track grooves 35 aform a non-recirculating path around the helical drive to convertreciprocating rotary motion in the secondary rotor assembly toreciprocating motion in the helical drive reciprocating ring 40.

FIG. 4 illustrates a composite rotary assembly 70 according to anembodiment of the disclosure. As can be seen in FIG. 4, the compositerotary assembly 70 is formed by concentrically assembling the secondaryreciprocating rotor assembly 30 and the primary rotor assembly 20. Thesecondary reciprocating rotor assembly 30 is positioned longitudinallyon the primary rotor assembly 20 by abutting thrust bearing second race231 b against thrust bearing first race 231 a, resulting in thrustbearing 231.

FIGS. 5 and 5A illustrate a helical drive reciprocating ring (helicaldrive ring) 40 and a connecting flange 41 according to an embodiment ofthe disclosure. The connecting flange 41 is a coupler betweenreciprocating ring assemblies 40, 50. As can be seen in FIGS. 5 and 5A,the helical drive ring 40 includes a housing 42 and a plurality of balltransfers 43. The plurality of ball transfers 43 include a plurality ofball transfer housings (ball housings) 44 and a plurality of track,roller balls (balls) 45 (see FIG. 5A) disposed within the plurality ofball transfer housings 44. The plurality of ball housings 44 contain thecorresponding plurality of balls 45 so that a portion of the ballsextends towards the axial centerline of the housing 42 beyond the innerwall 42 a of the housing 42 and the plurality of ball housings 44 (seeFIG. 5A). The connecting flange 41 includes an insert portion 41 a thatis used to rigidly connect the helical drive ring 40 to the harmonicdrive ring 50. The connecting flange 41 also includes an opposing insertportion (not shown) disposed within and rigidly connected to the helicaldrive ring 40.

The helical drive ring 40 is disposed around and concentric to thehelical drive screw assembly 33 (FIGS. 1, 3, 4). The plurality of balls45 engage and track in corresponding track grooves 35 a of the helicaldrive screw 35 (FIG. 1, 3, 4). In such a manner, the balls 45 and trackgrooves 35 a are in load bearing contact and the balls 45 rotationallyreciprocate in the ball housings 44 as the helical drive screw 35reciprocates.

FIGS. 6 and 6A illustrate a harmonic drive reciprocating ring (harmonicdrive ring) 50 according to an embodiment of the disclosure. As can beseen in FIGS. 6 and 6A, the harmonic drive ring 50 includes a housing52, a plurality of ball transfers 53 that include a plurality of balltransfer housings 54 and a plurality of track, roller balls (balls) 55disposed within the plurality of ball transfer housings 54. Theplurality of ball housings 54 contain the corresponding plurality ofballs 55 so that a portion of the balls extend towards the axialcenterline of the housing 52 beyond the inner wall 52 a of the housing52 and the plurality of ball housings 54.

The harmonic drive ring 50 is disposed around and concentric to theharmonic drive rotor 60 (FIGS. 2, 4). The plurality of balls 55 engageand track in corresponding harmonic track grooves 60 a of the harmonictrack rotor 60 (FIG. 2, 4). In such a manner, the balls 55 and harmonictrack grooves 60 a are in load bearing contact and the balls 55 rotatein the ball housings 54 as the harmonic drive rotor 60 rotates.

The helical drive ring 40 (see FIGS. 5 and 5B), the helical drive screw35, the harmonic drive ring 50 (see FIGS. 6 and 6A), and the harmonicdrive rotor 60 may be referred to as mechanical rectifier.

The ball transfers, and in particular, ball transfers withpolycrystalline diamond bearing support, are the subject of co-ownedU.S. patent application Ser. No. 15/726,506 entitled “BALL TRANSFERMECHANISM WITH POLYCRYSTALLINE DIAMOND BEARING SUPPORT,” filed Oct. 6,2017, incorporated by reference in its entirety.

FIGS. 7 and 7A illustrates a liner assembly (liner) 72 according to anembodiment of the disclosure. In this exemplary disclosure the liner 72is formed from multiple segments for ease of assembly of the motormodule 80 (see FIG. 8). In other embodiments, the liner 72 may be formedof one or more components. The liner 72 acts as a stator and forms theinterface between the motor case (shell) and the rotor assembly shown inFIG. 4. As can be seen in FIGS. 7 and 7A, the liner 72 includes ahousing 73 having external splines 73 a and internal splines 73 b. Theexternal splines 73 a engage with the motor case or shell 101 (see FIG.10) to prevent rotation of the liner 72 as the liner 72 reacts thetorque from the reciprocating rings (40, 50) on the interior surfaceusing internal splines 73 b to prevent the rings 40, 50 from rotating.Tapered bearing outer race 221 b and tapered bearing inner races 222 a,223 a are shown installed within the liner in FIG. 7A and act to reactrotor thrust loads during operation. Also shown are races 79 d thatcentralize the rotary piston during operation. As can be seen in FIG.7A, races 79 d include ports 78 d that allow fluid ingress and egressfrom the rotary piston chambers that are described in detail in thefollowing paragraphs. Also shown in FIG. 7A are rotary bearing outerraces 201 b and an annular ring at each end that retains the radialbearings within the assembly.

As can be seen in FIG. 7A, the liner 72 includes stator ribs 71 disposedthere within. These stator ribs 71 interface with the rotary piston 32to form cavities or chambers (e.g., chambers “A” & “B”) that facilitatechamber pressurization in response to the following fluid pressurizationsequence. As discussed in further detail below, adjacent rotary pistons32 have a stator rib 71 disposed therebetween so as to divide the spacetherebetween into chambers “A and “B.” The internal components 73 cinclude ports to receive fluid from the pressure valve 24 and convey thefluid to the chambers as described in further detail below. It should benoted that internal components 73 are shown solid at the cut away butcontain ports internal thereto.

FIG. 8 is a partial cross section view of a motor module 80 according toan embodiment of the disclosure with the liner 72 cutaway. The internalpower section 10 shown in FIG. 1 is shown installed in the cut-away ofthe liner 72. The aforementioned first, second and third taperedbearings 221, 222 and 223, respectively and rotary bearings 201 (shownin FIGS. 1 and 7A, respectively) integrate the rotor assembly with theliner.

Radial bearings act to centralize the internal power section 10 withinthe liner assembly 72. Tapered bearings also centralize the internalpower section 10 within the liner assembly 72 and react the axial forcefrom the action of the helical drive reciprocating ring 40 and theharmonic drive reciprocating ring 50. A thrust bearing is used in themiddle of the assembly as the rotor is centralized by the ball transferhousings 44 on the helical drive reciprocating ring 40 and the balltransfer housings 54 on the harmonic drive reciprocating ring 50. Asshown in FIG. 8, there are two radial bearings 201 and three taperedbearings (221, 222 and 223). A thrust bearing 231 is proximate themiddle of the assembly 70 and is shown on FIG. 4, but not shown in FIG.8.

FIG. 9 shows the complete motor module 80 with sectional references forFIGS. 9A-9H indicated. As can be seen in FIGS. 9A-9H, the liner 72 afurther includes fluid injection ports 74 (fluid injection port 74a—Chamber A, fluid injection port 74 b—Chamber B) into rotary pistonstator 72 b, a fluid relief port 75 (fluid relief port 75 a—Chamber A,fluid relief port 75 b—Chamber B) in liner 72 c, a fluid channel 76(fluid relief port 76 a—Chamber A—external to liner 72 d, fluid reliefport 76 b—Chamber B—internal to liner 72 d) and a fore fluid inlet port77 (fluid relief port 77 a—Chamber A, fluid relief port 77 b—Chamber Bin liner 72 e). These are described below using the various sectionsthrough the motor module 80 in FIG. 9.

FIGS. 9A-9H shows how alternatively pressurizing and exhausting ChambersA and B impart reciprocative rotary motion to motor pistons to generaterotation and torque in the output rotor. As discussed below, Chamber Ais pressurized while Chamber B is concurrently exhausted to energize therotor assembly to impart clockwise motion to the rotary pistons togenerate clockwise motion in the output rotor, followed by alternativelyporting Chamber B to pressurize while Chamber A is concurrentlyexhausted to energize the rotor assembly to impart counter-clockwisemotion to the rotary pistons to generate clockwise motion in the outputrotor.

The fluid injection ports 74 receive fluid from the primary shaft fluidoutlet (pressure) valve 24 (see FIG. 9A section 1-1 and 9B section 2-2)and port it to the rotary piston Chambers A and B (see FIG. 9C section3-3). Fluid injection port 74 a connects rotor primary shaft fluidoutlet valve 24 a to rotary piston Chamber A via flow through the liner72 a; fluid injection port 74 b connects rotor primary shaft fluidoutlet valve 24 b to rotary piston Chamber B via flow through the liner72 a. These fluid injection ports 74 a & 74 b connect alternativelyduring rotor rotation to pressurize the chambers for rotary pistonreciprocation. (Note the referenced figures show the beginning ofChamber A pressurization and completion of Chamber B pressurizationcorresponding to clockwise rotation of the rotor assembly.)

The fluid relief port 75 receives fluid from the rotary piston chambers(see FIG. 9C section 3-3) for ejection to the rotor primary shaft fluidinlet (exhaust) valve 25 via fluid channel 76 and fore fluid port 77.Fluid injection port 75 a (see FIG. 9D section 4-4) connects rotorprimary shaft fluid outlet valve 25 to rotary piston Chamber A via fluidchannel 76 a (described below) and fore fluid port 77 a (describedbelow); fluid injection port 75 b connects rotor primary shaft fluidoutlet valve 25 to rotary piston Chamber B via fluid channel 76 b(described below) and fore fluid port 77 b (described below). Thesefluid ejection ports 75 a & 75 b connect alternatively during rotorrotation to exhaust the chambers for rotary piston reciprocation.

The fluid channel 76 a receives fluid from the fluid relief port 75 forejection to the rotor primary shaft fluid inlet (exhaust) valve 25 viafore fluid port 77. Fluid injection port 76 a, one or more cavities inthe exterior of liner 72 d (see FIG. 9E section 5-5 and 9F section 6-6)connects rotor primary shaft fluid outlet valve 25 to rotary pistonChamber A via fore fluid port 77 a; fluid injection port 76 b, flowacross the helical drive reciprocating 40 (see FIG. 9E section 5-5) inthe interior of liner 72 d and harmonic drive reciprocating ring 50 (seeFIG. 9F section 6-6) in the interior of liner 72 d connects rotorprimary shaft fluid outlet valve 25 to rotary piston chamber “B” viafore fluid port 77 b. These fluid channels 76 a & 76 b connectalternatively during rotor rotation to exhaust the chambers for rotarypiston reciprocation.

The fore fluid inlet port 77 receives fluid from the fluid channel 76for ejection to the rotor primary shaft fluid inlet (exhaust) valve 25.Fore fluid inlet port 77 a (see FIG. 9G section 7-7) connects rotorprimary shaft fluid outlet valve 25 to rotary piston chamber “A” viafluid channel 76 a and flow through the liner 72 e; fore fluid inletport 77 b (see FIG. 9H section 8-8) connects rotor primary shaft fluidoutlet valve 25 to rotary piston Chamber B via fluid channel 76 b fluidinjection port 76 b and flow through the liner 72 e. These fore fluidinlet ports 77 a & 77 b connect alternatively during rotor rotation toexhaust the chambers for rotary piston reciprocation.

FIG. 10 illustrates a partial cut away view of a fluid-powered linearmotor (motor) 100 according to an embodiment of the disclosure. As canbe seen in FIG. 10, the motor 100 includes a first motor module 100 aand a second motor module 100 b. In other embodiments, a motor 100 mayinclude two or more modules depending on the torque requirements of theapplication. The motor 100 requires the second motor module 100 b to beassembled rotationally clocked from the first motor module 100 a toprovide a continuous output torque as the individual modules can thentransition the respective dwell point or motion reversals of theirpiston reciprocation while the other module is providing rotor power.Additional modules can be added and similarly offset to allow continuousrotor torque during constituent module dwell points and provideincreased torque delivery for the overall assembly.

Also shown in FIG. 10 is a case or shell 101 that accommodatesinstallation of the constituent motor modules including a splined boreto receive liner assembly 72 and mate with housing 73 and externalsplines 73 a. The shell 101 is secured (preloaded) with a connection(threaded or welded) to hold the motor in place.

It should be appreciated that the primary rotor shaft of the motor maybe connected or coupled to a rotary tool or device, such as, but notlimited to a rotary cutter or bit, via a rotating collar at the forwardend of the shell. Likewise, the aft end of the shell may be connected toa drillstring such that the motor introduces rotary motion relative tothe drillstring connection. In addition, the motor receives a fluid froma drillstring connection or other fluid supply source as may beappreciated by one of ordinary skill in the art.

FIG. 11 illustrates fluid flow paths through the motor 100 (FIG. 10). Asdiscussed above, the fluid entering each module is separated into aworking fluid flow that energizes the secondary reciprocating motorassembly of that module and a pressure fluid flow that passes throughthe primary rotor shaft of that module and an exhaust flow that may havebeen collected from previous modules. The working fluid, afterperforming work, is exhausted from that module as an exhaust flow. Theexhaust flow is then provided to downstream module(s) to continue topass through the motor. The pressure fluid flow, after passing through amodule, is provided to a downstream module to power the secondaryreciprocating motor assembly of that downstream module. Similarly,exhaust fluid flows from upstream modules must be isolated from pressurefluid flows that have yet to perform work until all exhaust fluid can becollected at the motor exit.

As can be seen in FIG. 11, an exhaust piping manifold 100 a is assembledwith subassembly 101 disposed within the first module 100 a (see FIG.10) and subassembly 102 disposed within the second module 100 b (seeFIG. 10) with the assemblies interconnected by exhaust tube 103. For thetwo-module motor under consideration, centralizer 104 is disposed withinthe first module and as such does not collect any exhaust flows fromprevious modules; it does allow pressurized fluid to the downstreammodule and accordingly has flutes cut in its periphery to allowpressurized fluid to flow by. Pressurized fluid is delivered to thefirst module, performs work, is collected as exhaust fluid atcentralizer 105, and conveyed to exhaust tube 103 for pass throughmodule 2. Centralizer 105 also includes flutes to allow pressurizedfluid to flow by to module 2. Pressurized fluid is conveyed across theseflutes within the primary rotor of module 1 and delivered to module 2.Pressurized fluid is delivered to the second module proximatecentralizer 106, performs work, collected as exhaust fluid atcentralizer 107, and combined with exhaust flow in exhaust tube 108 andallowed to exit the motor assembly. Comparable fluid management flowmanifolds can be conceived for motors consisting of more than twomodules with exhaust manifolds configured for each module according tothe sequential connection of the assembly.

FIGS. 12 and 13 show the rotary reciprocation of the rotary pistonassembly, related ring reciprocation, and the corresponding rotorrotation. FIG. 12 is a partial cross section view of a motor module 120at the commencement of a stroke according to an embodiment of thedisclosure, with liner assembly cutaway illustrating clockwisereciprocating rotor assembly rotation at commencement of stroke. As canbe seen in FIG. 12, fluid is rotating the secondary reciprocating rotorassembly 122 in a clockwise direction A that imparts will forward linearmotion B to the helical and harmonic drive rings 124 (driving them inthe direction indicated by B) such that the harmonic drive ring 124 aimparts clockwise rotation C to the primary rotor assembly 126.

FIG. 13 is a partial cross section view of a motor module according toan embodiment of the disclosure with liner assembly cutaway illustratingcounter-clockwise reciprocating rotor assembly rotation at completion ofa stroke. As can be seen in FIG. 13, fluid is rotating the secondaryreciprocating rotor assembly 122 in a counter-clockwise direction A′that will impart a backward linear motion B′ to the helical and harmonicdrive rings 124 such that the harmonic drive ring 124 a impartsclockwise rotation C to the primary rotor assembly 126.

FIG. 14 is an illustration of a harmonic drive rotor 140 according tothe present embodiment of the disclosure. As can be seen in FIG. 14, therotor has two tracks or harmonics per revolution.

FIG. 15 is an illustration of a harmonic drive rotor 140 according toanother embodiment of the disclosure. As can be seen in FIG. 15, therotor has three tracks or harmonics per revolution, resulting in 2/3 therotor advance of the baseline embodiment of the disclosure per ringreciprocation. Hence, the output speed of the rotor can be tailored byselecting the properties of the harmonic drive.

FIG. 16 is an illustration of a harmonic drive rotor 140 according toanother embodiment of the disclosure. As can be seen in FIG. 16, therotor has four tracks or harmonics per revolution, resulting in 1/2 therotor advance of the baseline embodiment of the disclosure per ringreciprocation. Hence, the output speed of the rotor can be tailored byselecting the properties of the harmonic drive.

FIG. 17 is an illustration of a reciprocating rotary piston assemblywith a stator according to the present embodiment of the disclosure. Ascan be seen in FIG. 17, a three-blade reciprocating rotary pistonassembly is used with a three-ribbed stator.

FIG. 18 is an illustration of a four-blade reciprocating rotary pistonassembly with a four-ribbed stator, resulting in 4/3 the output torqueof the baseline embodiment of the disclosure for comparable pressureconditions. Hence, the rotor output torque can be increased by selectingthe properties of the rotary piston assembly.

FIG. 19 is an illustration of a five-blade reciprocating rotary pistonassembly with a five-ribbed stator, resulting in 5/3 the output torqueof the baseline embodiment of the disclosure for comparable pressureconditions. Hence, the rotor output torque can be increased by selectingthe properties of the rotary piston assembly.

Comparing chamber volumes in FIGS. 17-19, the cumulative chamber volumeof each design decreases as additional stator ribs is used therebydecreasing the required fluid volume to complete reciprocation. Hence,the input flowrate characteristics of the motor can be modified byselecting the properties of the rotary piston assembly.

Comparing ring reciprocation (axial amplitude) of various harmonicdrives in FIGS. 14-16 with reciprocating rotary piston assemblies(circumferential reciprocation) in FIGS. 17-19 requires displacementcompatibility via preferred selection of helical power screw propertiesthat convert rotary piston reciprocation into axial ring displacement.Multiple configurations can be conceived by selecting the properties ofthe overall assembly components to achieve the desired rotor outputspeed and torque based upon input flow and pressure conditions.

FIG. 20 is an illustration of a radial bearing 250 according to anembodiment of the disclosure. The radial bearing accommodates radialloads and provides concentric alignment of the rotor with respect to theouter housing. The radial bearing 250 includes a radial bearing innerrace 250 a that is mounted to the rotor 20. The radial bearing innerrace 250 a includes an inner race sleeve 251 a that is formed of ahardened material, such as alloy steel, stainless steel or tungstencarbide. In an embodiment, the hardened material may be tungsten carbidefor high temperature operation and drilling fluid compatibility.

The radial bearing inner race 250 a further includes synthetic diamondinserts 251 b. The synthetic diamond inserts 251 b protrude outwardlyfrom the inner race sleeve 251 a. The synthetic diamond inserts 251 bare formed of a surface layer of polycrystalline synthetic diamondsintered in a high temperature material matrix 252 c on a hightemperature material 252 d. In an embodiment, the high temperaturematerial is a tungsten carbide substrate. The size and distribution ofthe diamonds within the assembly is commensurate with the radial load tobe transmitted through the assembly. The radial bearing also includes aradial bearing outer race 250 b that is mounted to the liner 72. Theradial bearing outer race 250 b includes an outer race sleeve 252 a andsynthetic diamond inserts 252 b. The radial bearing outer race 250 bincludes castellations 258 to prevent rotation when mated with the liner72. When the radial bearing inner and outer races 250 a, 250 b aremated, the synthetic diamond inserts of each component are sized andspaced such that they contact one another without contacting the sleevematerials. In such a manner, the opposing inserts slide across eachother with low friction and low heat generation, thereby increasing thedurability and lifetime of the radial bearing. Selection of diamondproperties (grain size, diamond table thickness, edge chamferconditions, diamond sintering conditions, etc.) are commensurate withoperational loads and speeds.

FIG. 21 is an illustration of a thrust bearing 260 according to anembodiment of the disclosure. The thrust bearing 260 accommodates axialthrust loads and provides axial alignment of the secondary rotor 30 withrespect to the primary rotor 20. The thrust bearing 260 includes firstand second races 260 a, 260 b. The first race 260 a is mounted to theprimary rotor 20 and the second race 260 b is mounted to the secondaryrotor 30. The first and second races 260 a, 260 b are formed of firstand second race sleeves 261 a, 262 a and first and second syntheticdiamond inserts 261 b, 262 b. The race sleeves 261 a, 262 a andsynthetic diamond inserts 261 b, 262 b are formed of materials discussedabove regarding the radial bearing and are geometrically sized inproportion to anticipated thrust loads. The thrust bearing 260 includescastellations 268 to prevent rotational slippage when mounted on theprimary rotor assembly 20 and secondary reciprocating rotor assembly 30.

FIG. 22 is an illustration of a tapered bearing 270 according to anembodiment of the disclosure. The tapered bearing 270 includes taperedbearing inner and outer races 270 a, 270 b. In an embodiment, describedabove, the tapered bearing inner race 270 a and outer race 270 b aremounted to the primary and secondary rotors 20, 30, and thecorresponding tapered bearing race pair is attached to the linerassembly 72. The tapered bearing 270 accommodates both radial and axialthrust loads and provides radial concentric alignment and axialalignment of the primary and secondary rotors 20, 30 with respect to theliner assembly 72. The inner and outer races 270 a, 270 b include innerand outer race sleeves 271 a, 272 a and corresponding diamond inserts271 b, 272 b. Inner and outer races 270 a, 270 b and the componentsthereof are formed of materials and geometrically sized as discussedabove regarding the radial and thrust bearing. The tapered bearing 270includes castellations 278 to prevent rotational slippage when mountedon the primary rotor assembly 20 and liner 72.

While certain radial, thrust and tapered bearing configurations andarrangements have been described, alternate configurations andarrangements may be possible (e.g., variations in sizes, dimensions,structures, shapes and proportions of the various elements, values ofparameters, mounting arrangements, use of materials, colors,orientations, etc.) without materially departing from the novelteachings and advantages of the invention.

Integration of synthetic diamond bearing assemblies as detailed hereinmay be accomplished using castellations or other features between thebearing substrate or sleeve and the mating flange. In FIG. 20, keyways253 prevent rotation of the radial bearing inner race 250 a with respectto the surface that the radial bearing inner race is mounted on. InFIGS. 20, 21 and 22, castellation features 258, 268 and 278,respectively, ensure flush contact between the flange and the bearingsleeve and also provide a spline interface to prevent rotationalslippage between rotating components. In other embodiments, races may bemated to flanges via other methods such as using dowels pins, fasteners,brazing, welding, or other mechanical fastening methods.

Operation

The operation of a rotary piston motor is as follows. As the rotorrotates, the valves within the first valve block assembly open to allowfluid pressure and flow into chamber A of the rotary piston assembly atthe upstream end. The fluid pressure drives the rotary pistons clockwiseexhausting the fluid from chamber B at the downstream end. The exhaustfluid is ported around the harmonic drive assembly and directed to theexhaust ports in the lower valve block assembly. The exhaust valvesallow flow from chamber B into the exhaust manifold on rotor centerline.

As the rotary pistons rotate clockwise, an output torque is delivered tothe helical drive screw assembly. This clockwise rotation and torqueproduces ball motion in the non-reversing track and produces forwardaxial motion in the helical and harmonic drive rings. The helical andharmonic drive rings apply a force to the ball(s) in the reversing trackof the harmonic drive and introduces clockwise rotation and torque tothe output rotor.

As the rotary pistons reach the end of stroke, the pressure and exhaustvalves reverse port connections and the pressurized fluid is directed tochamber B and the fluid is exhausted from chamber A. This producescounter-clockwise motion in the rotary piston output shaft and reversesthe motion of the ball(s) in the helical drive screw and causes thehelical and harmonic drive rings to retract. Since the ball(s) in theharmonic drive had reached the dwell point at the end of the chamber Apressurization stroke, the ball(s) in the harmonic drive is now on thereversing track of the harmonic drive. As the helical and harmonic driverings retract during pressurization of chamber B, clockwise motion andtorque are delivered to the output rotor. When the rotary piston reachesthe end of stroke, the harmonic drive(s) reaches another dwell point andthe cycle is complete. The cycle repeats itself with the subsequentpressurization of chamber A and exhaust of chamber B as the rotor valvesreturn to their initial conditions following one full or fractionalrotation of the rotor.

Configurations

The harmonic drive rotor includes a specified number of harmonics. Thenumber of harmonics on the output shaft is coupled with the number ofblades on the rotary piston so that the speed output of the assembly iscommensurate with the rotation-generating capacity of the rotary pistonassembly. That is, as the number of harmonics on the assembly increases,the rotor advance per piston cycle will decrease; this will decrease thespeed of the rotor for a given flowrate through the motor. Accordingly,the number of blades on the rotary piston can likewise increase toprovide increased torque at lower speeds so that the motor can run atconstant rotational power with the output torque and speed tailored topreferred values. Some of the options are shown in the top and bottompanel pairs of FIGS. 14-19.

While the exemplary embodiments illustrated in the figures and describedherein are presently preferred, it should be understood that theseembodiments are offered by way of example only. Accordingly, the presentapplication is not limited to a particular embodiment, but extends tovarious modifications that nevertheless fall within the scope of theappended claims. The order or sequence of any processes or method stepsmay be varied or re-sequenced according to alternative embodiments.

Although only a few embodiments have been described in detail in thisdisclosure, those skilled in the art who review this disclosure willreadily appreciate that many modifications are possible (e.g.,variations in sizes, dimensions, structures, shapes and proportions ofthe various elements, values of parameters, mounting arrangements, useof materials, colors, orientations, etc.) without materially departingfrom the novel teachings and advantages of the subject matter recited inthe claims. For example, elements shown as integrally formed may beconstructed of multiple parts or elements, the position of elements maybe reversed or otherwise varied, and the nature or number of discreteelements or positions may be altered or varied. Accordingly, all suchmodifications are intended to be included within the scope of thepresent application. The order or sequence of any process or methodsteps may be varied or re-sequenced according to alternativeembodiments. In the claims, any means-plus-function clause is intendedto cover the structures described herein as performing the recitedfunction and not only structural equivalents but also equivalentstructures. Other substitutions, modifications, changes and omissionsmay be made in the design, operating conditions and arrangement of theexemplary embodiments without departing from the scope of the presentapplication.

The invention claimed is:
 1. A motor module, comprising: a primary rotorassembly comprising a harmonic drive rotor; a secondary reciprocatingrotor assembly coupled to the primary rotor assembly, the secondaryreciprocating rotor assembly comprising a reciprocating rotary pistonassembly and a helical drive screw; a helical drive reciprocating ringcoupled to the helical drive screw; and a harmonic drive reciprocatingring coupled to the helical drive reciprocating ring and the harmonicdrive rotor so that reciprocating motion of the secondary reciprocatingrotor assembly imparts linear motion to the helical and harmonicreciprocating rings so that the harmonic reciprocating ring rotates theharmonic drive rotor to impart continuous rotary motion to the primarymotor assembly; and one or more synthetic diamond bearings to supportradial and thrust loads and combinations thereof within the assembly. 2.The motor module of claim 1, wherein the primary rotary assembly furthercomprises a reciprocating rotary piston assembly comprising one or moremotor pistons.
 3. The motor module of claim 2, wherein the one or morepistons comprise synthetic diamond inserts.
 4. The motor module of claim3, wherein the motor module further comprises races comprising syntheticdiamond inserts that contact the synthetic diamond inserts of the one ormore pistons to centralize and position the rotor assembly and reactradial and thrust loads within the motor module.
 5. The motor module ofclaim 1, wherein the helical drive reciprocating ring comprises balltransfers that couple the helical drive reciprocating ring to thehelical drive screw.
 6. The motor module of claim 1, wherein theharmonic drive reciprocating ring comprises ball transfers that couplethe harmonic drive reciprocating ring to the harmonic drive rotor. 7.The motor module of claim 1, wherein the helical ring is rigidly coupledto the harmonic drive ring.
 8. The motor module of claim 1, wherein theprimary rotor assembly further comprises a primary rotor shaftcomprising a fluid inlet and a fluid outlet for receiving anddischarging the fluid.
 9. The motor module of claim 1, furthercomprising a liner assembly disposed around the motor module for portingthe fluid to and from the secondary reciprocating rotor assembly. 10.The motor module of claim 1, further wherein the liner assemblycomprises two or more stator ribs that with rotary pistons of thereciprocating rotary piston assembly partially define fluid chambersthat receive fluid to drive the reciprocating rotary piston assembly.11. The motor module of claim 1, wherein the one or more syntheticdiamond bearings comprise one or more radial bearings upon the compositerotor assembly that is centralized by a mating radial bearing affixed tothe motor module liner to react radial loads from operation of the motorassembly.
 12. The motor module of claim 1, wherein the one or moresynthetic diamond bearing comprises one or more thrust bearings upon thecomposite rotor assembly that position the secondary reciprocatingrotary piston assembly upon the primary rotor assembly that reactsthrust load from the helical drive reciprocating ring to the primaryrotor from operation of the motor assembly.
 13. The motor module ofclaim 1, wherein the one or more synthetic diamond bearings comprise oneor more tapered bearings upon the composite rotor assembly that iscentralized and positioned by a mating tapered bearing affixed to themotor module liner that reacts radial and thrust loads from the helicaldrive reciprocating ring to the secondary reciprocating rotary pistonassembly and also reacts radial and thrust loads from the harmonic drivereciprocating ring to the primary rotor assembly from operation of themotor assembly.
 14. The motor module of claim 1, wherein the one or moresynthetic diamond bearings comprise one or more tapered bearings uponthe rotary piston that is centralized and positioned by a mating taperedbearing affixed to the motor module liner that reacts radial and thrustloads from the rotary piston reciprocation from operation of the motorassembly.
 15. A motor comprising: two or more motor modules, whereineach of the two or more motor modules comprises: a primary rotorassembly comprising a harmonic drive rotor; a secondary reciprocatingrotor assembly coupled to the primary rotor assembly, the secondaryreciprocating rotor assembly comprising a reciprocating rotary pistonassembly and a helical drive screw; a helical drive reciprocating ringcoupled to the helical drive screw; and a harmonic drive reciprocatingring coupled to the helical drive reciprocating ring and the harmonicdrive rotor so that reciprocating motion of the secondary reciprocatingrotor assembly imparts linear motion to the helical and harmonicreciprocating rings so that the harmonic reciprocating ring rotates theharmonic drive rotor to impart continuous rotary motion to the primarymotor assembly; and one or more synthetic diamond bearing assemblies tosupport radial and thrust loads and combinations thereof within themotor.
 16. The motor of claim 15, wherein the primary rotary assemblyfurther comprises a reciprocating rotary piston assembly comprising oneor more motor pistons.
 17. The motor of claim 16, wherein the one ormore pistons comprise synthetic diamond inserts that contactcorresponding races comprising race synthetic diamond inserts tocentralize and position the rotor assembly and react radial and thrustloads within at least one of the two or more motor modules.
 18. Themotor of claim 15, wherein the helical drive reciprocating ringcomprises ball transfers that couple the helical drive reciprocatingring to the helical drive screw.
 19. The motor of claim 15, wherein theharmonic drive reciprocating ring comprises ball transfers that couplethe harmonic drive reciprocating ring to the harmonic drive rotor. 20.The motor of claim 15, wherein the helical ring is rigidly coupled tothe harmonic drive ring.
 21. The motor of claim 15, wherein the primaryrotor assembly further comprises a primary rotor shaft comprising afluid inlet and a fluid outlet for receiving and discharging the fluid.22. The motor of claim 15, further comprising a liner assembly disposedaround the motor module for porting the fluid to and from the secondaryreciprocating rotor assembly.
 23. The motor of claim 22, further whereinthe liner assembly comprises two or more stator ribs that with rotarypistons of the reciprocating rotary piston assembly partially definefluid chambers that receive fluid to drive the reciprocating rotarypiston assembly.
 24. The motor of claim 15, wherein the one or moresynthetic diamond bearings comprise one or more radial bearings upon thecomposite rotor assembly that is centralized by a mating radial bearingaffixed to the motor module liner to react radial loads from operationof the motor.
 25. The motor of claim 15, wherein the one or moresynthetic diamond bearings comprise one or more thrust bearings upon thecomposite rotor assembly that position the secondary reciprocatingrotary piston assembly upon the primary rotor assembly that reactsthrust load from the helical drive reciprocating ring to the primaryrotor from operation of the motor.
 26. The motor module of claim 15,wherein the one or more synthetic diamond bearings comprise one or moretapered bearings upon the composite rotor assembly that is centralizedand positioned by a mating tapered bearing affixed to the motor moduleliner that reacts radial and thrust loads from the helical drivereciprocating ring to the secondary reciprocating rotary piston assemblyand also reacts radial and thrust loads from the harmonic drivereciprocating ring to the primary rotor assembly from operation of themotor.
 27. The motor module of claim 15, wherein the one or moresynthetic diamond bearings comprise one or more tapered bearings uponthe rotary piston that is centralized and positioned by a mating taperedbearing affixed to the motor module liner that reacts radial and thrustloads from the rotary piston reciprocation from operation of the motor.28. A method for converting fluid energy to rotational energy,comprising: providing fluid to a motor module comprising a primary rotorassembly comprising a harmonic drive rotor; diverting a portion of thefluid to a secondary reciprocating rotor assembly coupled to the primaryrotor assembly, the secondary reciprocating rotor assembly comprising areciprocating rotary piston assembly; energizing the reciprocatingrotary piston assembly with the portion of the fluid to reciprocatedlyrotate the secondary reciprocating rotor assembly; and transferringenergy from the secondary reciprocating rotor assembly to the primaryrotor assembly via a mechanical rectifier to continuously rotate theprimary rotor assembly; receiving the non-diverted portion of the fluidin a second primary rotor assembly to energize a second motor module;and using one or more synthetic diamond bearings to reduce frictionbetween the reciprocation of the secondary reciprocating rotor assemblywith respect to the continuous rotation of the primary rotor assembly.29. The method of claim 28, wherein a liner assembly ports the divertedfluid to the reciprocating rotary piston assembly to energize rotarypistons of the reciprocating rotary piston assembly.
 30. The method ofclaim 28, wherein the non-diverted portion of the fluid is used tofurther energize rotary pistons and a mechanical rectifier of the secondor more motor modules.
 31. The method of claim 28, wherein the one ormore synthetic diamond bearings centralize the primary rotor assembly toreact radial loads during operation.
 32. The method of claim 28, whereinthe one or more synthetic diamond bearings comprises one or more thrustbearings that reacts thrust load during operation.
 33. The motor moduleof claim 28, wherein the one or more synthetic diamond bearings compriseone or more tapered bearings that reacts radial and thrust loads duringoperation.
 34. The motor module of claim 28, wherein the one or moresynthetic diamond bearings on the pistons comprise one or more taperedbearings that react radial and thrust loads during operation.